<?xml version="1.0" ?>
<Manifest 
    xmlns="http://schemas.microsoft.com/xw/2004/10/manifest.html"
	xmlns:dssp="http://schemas.microsoft.com/xw/2004/10/dssp.html"
    xmlns:simcommon="http://schemas.microsoft.com/robotics/2006/04/simulation.html"
    >
    <CreateServiceList>
		<!-- Start simulation engine and visualization window -->
		<ServiceRecordType>
			<dssp:Contract>http://schemas.microsoft.com/robotics/2006/04/simulationengine.html</dssp:Contract>
			<dssp:PartnerList>
				<dssp:Partner>
					<dssp:Service>LEGO.NXT.Tribot.SimulationEngineState.xml</dssp:Service>
					<dssp:Name>dssp:StateService</dssp:Name>
				</dssp:Partner>
			</dssp:PartnerList>
		</ServiceRecordType>

		<!-- Start simulated motor service -->
		<ServiceRecordType>
			<dssp:Contract>http://schemas.microsoft.com/robotics/simulation/services/2006/05/simulateddifferentialdrive.html</dssp:Contract>
			<dssp:PartnerList>
				<dssp:Partner>
					<!--The partner name must match the entity name-->
					<dssp:Service>http://localhost/LegoNXTMotorBase</dssp:Service>
					<dssp:Name>simcommon:Entity</dssp:Name>
				</dssp:Partner>
			</dssp:PartnerList>
		</ServiceRecordType>

		<!-- Start simulated bumper service -->
		<ServiceRecordType>
			<dssp:Contract>http://schemas.microsoft.com/robotics/simulation/services/2006/05/simulatedbumper.html</dssp:Contract>
			<dssp:PartnerList>
				<dssp:Partner>
					<!--The partner name must match the entity name-->
					<dssp:Service>http://localhost/LegoNXTBumpers</dssp:Service>
					<dssp:Name>simcommon:Entity</dssp:Name>
				</dssp:Partner>
			</dssp:PartnerList>
		</ServiceRecordType>

		<ServiceRecordType>
            <dssp:Contract>http://www.promrds.com/contracts/2007/10/dance.html</dssp:Contract>
			<dssp:PartnerList>
				<dssp:Partner>
					<dssp:Contract>http://www.promrds.com/contracts/2007/10/dance.html</dssp:Contract>
					<dssp:Service>dance.config.xml</dssp:Service>
					<dssp:PartnerList />
					<dssp:Name>dssp:StateService</dssp:Name>
				</dssp:Partner>
			</dssp:PartnerList>
		</ServiceRecordType>
    </CreateServiceList>
</Manifest>